TimeIntegrationAlgorithmGLM.h

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///////////////////////////////////////////////////////////////////////////////
//
// File: TimeIntegrationAlgorithmGLM.h
//
// For more information, please see: http://www.nektar.info
//
// The MIT License
//
// Copyright (c) 2019 Division of Applied Mathematics, Brown University (USA),
// Department of Aeronautics, Imperial College London (UK), and Scientific
// Computing and Imaging Institute, University of Utah (USA).
//
// License for the specific language governing rights and limitations under
// Permission is hereby granted, free of charge, to any person obtaining a
// copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation
// the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the
// Software is furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included
// in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// DEALINGS IN THE SOFTWARE.
//
// Description: Header file of time integration scheme data class
//
// The TimeIntegrationAlgorithmGLM class should only be used by the
// TimeIntegrationSchemeGLM class.
//
///////////////////////////////////////////////////////////////////////////////
 
#ifndef NEKTAR_LIB_UTILITIES_TIME_INTEGRATION_TIME_INTEGRATION_ALGORITHM_GLM
#define NEKTAR_LIB_UTILITIES_TIME_INTEGRATION_TIME_INTEGRATION_ALGORITHM_GLM
 
#define LUE LIB_UTILITIES_EXPORT
 
#include <LibUtilities/TimeIntegration/TimeIntegrationSchemeOperators.h>
#include <LibUtilities/TimeIntegration/TimeIntegrationTypes.hpp>
 
namespace Nektar::LibUtilities
{
 
class TimeIntegrationAlgorithmGLM
{
public:
    TimeIntegrationAlgorithmGLM(const TimeIntegrationSchemeGLM *parent)
        : m_parent(parent)
    {
    }
 
    ~TimeIntegrationAlgorithmGLM()
    {
    }
 
    void InitializeScheme(const TimeIntegrationSchemeOperators &op);
 
    /**
     * \brief This function initialises the time integration scheme.
     *
     * Given the solution at the initial time level \f$\boldsymbol{y}(t_0)\f$,
     * this function generates the vectors \f$\boldsymbol{y}^{[n]}\f$ and
     * \f$t^{[n]}\f$ needed to evaluate the time integration scheme formulated
     * as a General Linear Method. These vectors are embedded in an object of
     * the class TimeIntegrationSolutionGLM. This class is the abstraction of
     * the input and output vectors of the General Linear Method.
     *
     * For single-step methods, this function is trivial as it just wraps a
     * TimeIntegrationSolutionGLM object around the given initial values and
     * initial time.  However, for multistep methods, actual time stepping is
     * being done to evaluate the necessary parameters at multiple time levels
     * needed to start the actual integration.
     *
     * \param timestep The size of the timestep, i.e. \f$\Delta t\f$.
     * \param time on input: the initial time, i.e. \f$t_0\f$.
     * \param time on output: the new time-level after initialisation, in
     * general this yields
     *       \f$t = t_0 + (r-1)\Delta t\f$ where \f$r\f$ is the number of steps
     * of the multi-step method.
     * \param nsteps on output: he number of initialisation steps required. In
     * general this corresponds to \f$r-1\f$
     *       where \f$r\f$ is the number of steps of the multi-step method.
     * \param f an object of the class FuncType, where FuncType should have a
     * method FuncType::ODEforcing
     *       to evaluate the right hand side \f$f(t,\boldsymbol{y})\f$ of the
     * ODE.
     * \param y_0 the initial value \f$\boldsymbol{y}(t_0)\f$
     * \return An object of the class TimeIntegrationSolutionGLM which
     * represents the vectors \f$\boldsymbol{y}^{[n]}\f$ and \f$t^{[n]}\f$ that
     * can be used to start the actual integration.
     */
    LUE TimeIntegrationSolutionGLMSharedPtr InitializeData(
        const NekDouble deltaT, ConstDoubleArray &y_0, const NekDouble time);
 
    /**
     * \brief Explicit integration of an ODE.
     *
     * This function explicitely perfroms a single integration step of the ODE
     * system:
     * \f[
     * \frac{d\boldsymbol{y}}{dt}=\boldsymbol{f}(t,\boldsymbol{y})
     * \f]
     *
     * \param deltaT The size of the timestep, i.e. \f$\Delta t\f$.
     * \param f an object of the class FuncType, where FuncType should have a
     * method FuncType::ODEforcing
     *       to evaluate the right hand side \f$f(t,\boldsymbol{y})\f$ of the
     * ODE.
     * \param y on input: the vectors \f$\boldsymbol{y}^{[n-1]}\f$ and
     * \f$t^{[n-1]}\f$ (which corresponds to the
     *    solution at the old time level)
     * \param y on output: the vectors \f$\boldsymbol{y}^{[n]}\f$ and
     * \f$t^{[n]}\f$ (which corresponds to the
     *    solution at the old new level)
     * \return The actual solution \f$\boldsymbol{y}^{n}\f$ at the new time
     * level
     *    (which in fact is also embedded in the argument y).
     */
    LUE ConstDoubleArray &TimeIntegrate(const NekDouble deltaT,
                                        TimeIntegrationSolutionGLMSharedPtr &y);
 
    // Does the actual multi-stage multi-step integration.
    LUE void TimeIntegrate(const NekDouble deltaT, ConstTripleArray &y_old,
                           ConstSingleArray &t_old, TripleArray &y_new,
                           SingleArray &t_new);
 
    // Check and verify GLM schemes.
    LUE void CheckAndVerify()
    {
        CheckIfFirstStageEqualsOldSolution();
        CheckIfLastStageEqualsNewSolution();
        VerifyIntegrationSchemeType();
    };
 
    inline TimeIntegrationSchemeType GetIntegrationSchemeType() const
    {
        return m_schemeType;
    }
 
    inline size_t GetNmultiStepValues() const
    {
        return m_numMultiStepValues;
    }
 
    inline size_t GetNmultiStepImplicitDerivs() const
    {
        return m_numMultiStepImplicitDerivs;
    }
 
    inline size_t GetNmultiStepExplicitDerivs() const
    {
        return m_numMultiStepExplicitDerivs;
    }
 
    inline const Array<OneD, const size_t> &GetTimeLevelOffset() const
    {
        return m_timeLevelOffset;
    }
 
    // Variables - all public for easy access when setting up the phase.
    /// Parent scheme object.
    const TimeIntegrationSchemeGLM *m_parent{nullptr};
 
    std::string m_name;
    std::string m_variant;
    size_t m_order{0};
    std::vector<NekDouble> m_freeParams;
 
    // Type of time integration scheme (Explicit, Implicit, IMEX, etc).
    TimeIntegrationSchemeType m_schemeType{eNoTimeIntegrationSchemeType};
 
    // Number of stages in multi-stage component.
    size_t m_numstages{0};
 
    // Number of steps in this integration phase.
    size_t m_numsteps{0};
 
    // Number of entries in input and output vector that correspond to VALUES at
    // previous time levels.
    size_t m_numMultiStepValues{0};
 
    // Number of entries in input and output vector that correspond to implicit
    // DERIVATIVES at previous levels.
    size_t m_numMultiStepImplicitDerivs{0};
 
    // Number of entries in input and output vector that correspond to explicit
    // DERIVATIVES at previous levels.
    size_t m_numMultiStepExplicitDerivs{0};
 
    // Denotes to which time-level the entries in both input and output vector
    // correspond, e.g.
    //     INPUT VECTOR --------> m_inputTimeLevelOffset
    //    _            _               _ _
    //   | u^n          |             | 0 |
    //   | u^{n-1}      |             | 1 |
    //   | u^{n-2}      |  ----->     | 2 |
    //   | dt f(u^{n-1})|             | 1 |
    //   | dt f(u^{n-2})|             | 2 |
    //    -            -               - -
    Array<OneD, size_t> m_timeLevelOffset;
    Array<OneD, Array<TwoD, NekDouble>> m_A;
    Array<OneD, Array<TwoD, NekDouble>> m_B;
    Array<TwoD, NekDouble> m_U;
    Array<TwoD, NekDouble> m_V;
 
    // Arrays used for the exponential integrators.
    Array<OneD, std::complex<NekDouble>> m_L;
 
    Array<OneD, Array<TwoD, NekDouble>> m_A_phi;
    Array<OneD, Array<TwoD, NekDouble>> m_B_phi;
 
    Array<OneD, Array<TwoD, NekDouble>> m_U_phi;
    Array<OneD, Array<TwoD, NekDouble>> m_V_phi;
 
    // bool to identify array initialization.
    bool m_initialised{false};
 
    // Values uses for exponential integration.
    NekDouble m_lastDeltaT{0}; /// Last delta T
    NekDouble m_lastNVars{0};  /// Last number of vars
 
    size_t m_nvars;   /// The number of variables in integration scheme.
    size_t m_npoints; /// The size of inner data which is stored for reuse.
 
    // Friend classes
    LUE friend std::ostream &operator<<(std::ostream &os,
                                        const TimeIntegrationScheme &rhs);
    LUE friend std::ostream &operator<<(
        std::ostream &os, const TimeIntegrationSchemeSharedPtr &rhs);
 
    LUE friend std::ostream &operator<<(std::ostream &os,
                                        const TimeIntegrationAlgorithmGLM &rhs);
    LUE friend std::ostream &operator<<(
        std::ostream &os, const TimeIntegrationAlgorithmGLMSharedPtr &rhs);
 
private:
    TimeIntegrationSchemeOperators m_op;
 
    DoubleArray m_Y;   /// Array containing the stage values
    DoubleArray m_tmp; /// Explicit RHS of each stage equation
 
    TripleArray m_F;      /// Array corresponding to the stage Derivatives
    TripleArray m_F_IMEX; /// Used to store the Explicit stage derivative of
                          /// IMEX schemes
 
    NekDouble m_T{0}; ///  ime at the different stages
 
    bool m_firstStageEqualsOldSolution{false}; /// Optimisation-flag
    bool m_lastStageEqualsNewSolution{false};  /// Optimisation-flag
 
    void CheckIfFirstStageEqualsOldSolution();
    void CheckIfLastStageEqualsNewSolution();
    void VerifyIntegrationSchemeType();
 
    bool CheckTimeIntegrateArguments(ConstTripleArray &y_old,
                                     ConstSingleArray &t_old,
                                     TripleArray &y_new,
                                     SingleArray &t_new) const;
 
    // Helpers
    inline NekDouble A(const size_t i, const size_t j) const
    {
        return m_A[0][i][j];
    }
 
    // Overloaded accessor for GLM parameter A; both exponential and
    // conventional schemes are currently supported
    inline NekDouble A(const size_t k, const size_t i, const size_t j) const
    {
        if (m_schemeType == eExponential)
        {
            // For exponential schemes, the parameter A is specific for
            // each variable k
            return m_A_phi[k][i][j];
        }
        else
        {
            return m_A[0][i][j];
        }
    }
 
    inline NekDouble B(const size_t i, const size_t j) const
    {
        return m_B[0][i][j];
    }
 
    // Overloaded accessor for GLM parameter B; both exponential and
    // conventional schemes are currently supported
    inline NekDouble B(const size_t k, const size_t i, const size_t j) const
    {
        if (m_schemeType == eExponential)
        {
            // For exponential schemes, the parameter B is specific for
            // each variable k
            return m_B_phi[k][i][j];
        }
        else
        {
            return m_B[0][i][j];
        }
    }
 
    inline NekDouble U(const size_t i, const size_t j) const
    {
        return m_U[i][j];
    }
 
    // Overloaded accessor for GLM parameter U; both exponential and
    // conventional schemes are currently supported
    inline NekDouble U(const size_t k, const size_t i, const size_t j) const
    {
        if (m_schemeType == eExponential)
        {
            // For exponential schemes, the parameter U is specific for
            // each variable k
            return m_U_phi[k][i][j];
        }
        else
        {
            return m_U[i][j];
        }
    }
 
    inline NekDouble V(const size_t i, const size_t j) const
    {
        return m_V[i][j];
    }
 
    // Overloaded accessor for GLM parameter V; both exponential and
    // conventional schemes are currently supported
    inline NekDouble V(const size_t k, const size_t i, const size_t j) const
    {
        if (m_schemeType == eExponential)
        {
            // For exponential schemes, the parameter V is specific for
            // each variable k
            return m_V_phi[k][i][j];
        }
        else
        {
            return m_V[i][j];
        }
    }
 
    inline NekDouble A_IMEX(const size_t i, const size_t j) const
    {
        return m_A[1][i][j];
    }
 
    inline NekDouble B_IMEX(const size_t i, const size_t j) const
    {
        return m_B[1][i][j];
    }
 
    inline size_t GetNsteps(void) const
    {
        return m_numsteps;
    }
 
    inline size_t GetNstages(void) const
    {
        return m_numstages;
    }
 
    inline size_t GetFirstDim(ConstTripleArray &y) const
    {
        return y[0].size();
    }
 
    inline size_t GetSecondDim(ConstTripleArray &y) const
    {
        return y[0][0].size();
    }
 
}; // end class TimeIntegrationAlgorithmGLM
 
LUE std::ostream &operator<<(std::ostream &os,
                             const TimeIntegrationAlgorithmGLM &rhs);
 
LUE std::ostream &operator<<(std::ostream &os,
                             const TimeIntegrationAlgorithmGLMSharedPtr &rhs);
 
// =========================================================================
 
} // namespace Nektar::LibUtilities
 
#endif